Internal riser inspection device and methods of using same

ABSTRACT

An inspection apparatus includes an inspection unit that is lowered into vertically supported pipe filled with seawater. The apparatus includes a pipe weld location detector module carried by the inspection unit. The apparatus also includes a rotating time of flight diffusion (TOFD) module and a non-rotating wall thickness module carried by the inspection unit. The module includes a pair of rotatably mounted weld volume inspection transducers rotatable by an operator and adapted to inspect for and obtain data on weld volume defects. The TOFD module has a fluid carrier positioned within the TOFD module and contains an acoustic fluid. The non-rotating wall thickness module also contains an acoustic liquid and includes a plurality of fixedly mounted wall inspection transducers adapted to obtain data on wall thickness of a portion of the pipe.

RELATED APPLICATIONS

This application is a continuation-in-part of application Ser. No.10/351,569 filed Jan. 24, 2003, which claims priority from theprovisional application Ser. No. 60/370,444 filed Apr. 5, 2002 titled“Internal Riser Inspection Device.”

BACKGROUND OF THE INVENTION

1. Field Of The Invention

The invention relates in general to non-destructive testing of pipe, andin particular to a test unit that is conveyed internally through pipefor ultrasonically inspecting the pipe wall thickness and welds andmethods for inspecting associated therewith.

2. Description of the Related Art

Non-destructive testing of pipe has been done for many years utilizingultrasonic transducers, eddy current measurements, x-ray and othertechniques. Operators using pulse echo techniques with ultrasonictransducers or probes can determine wall thickness, which is a measureof any corrosion that has occurred. One favorite technique is to propela vehicle or “pipeline pig” through the pipeline to examine the walls ofthe pipe using the ultrasonic probes. For welds, operators have usedtime of flight diffraction (“TOFD”) techniques with ultrasonictransducers. Also, a method known as pulse echo shear wave has beencombined with TOFD transducer measurements to inspect portions of theweld that are missed by the TOFD transducer.

One type of pipe that requires periodic inspection is a drilling riser.Drilling risers, which are utilized for offshore drilling, extend fromthe drilling rig to a blowout preventer and Lower Marine Riser Package(LMRP), which connect to a subsea wellhead. Drilling risers are made upof sections joined together with various types of connectors, eachsection being typically from 5-90 feet in length. Each drilling risersection has a central riser pipe that is normally about 18-24 inches indiameter. Several auxiliary lines are mounted to the exterior of thecentral riser pipe, the auxiliary lines being used for a choke, kill andhydraulic boost purposes. The auxiliary lines are smaller in diameterand mounted parallel and offset to the axis of the central riser pipe.Normally there will be at least one weld within each riser section, thisbeing a center weld that connects two tubular pipes together to form theriser section. Also, normally the connectors are mounted to the ends ofthe riser sections by welding. Many risers also have buoyant jacketsmounted to the exterior.

A drilling vessel may have several thousand feet of riser pipe,depending on the depth to which it is rated. During use, drill pipe withdrill bits on the end, casing, and other well tools are lowered throughthe riser. Drilling mud returns up the riser. The auxiliary lines arepressurized for various purposes from time to time. The drilling riseris re-used after each well. Consequently it is necessary to periodicallyinspect the riser to make sure that it has no weaknesses that couldresult in leakage or pipe failure.

Inspection in the past has been done primarily by “pulling” the riserstring, disconnecting each riser section from adjacent sections, andtransporting the riser sections to a facility on land that performs theinspection services. The facility removes the buoyancy jackets andauxiliary lines from each section. The riser sections are cleaned andinspected from the exterior with various ultrasonic transducers. If theriser has a coating of any type, it must be removed at each inspectionsite. After inspection, the riser sections are reassembled and shippedback to the drilling vessel. It is time consuming and expensive totransport, clean, disassemble, inspect and reassemble the risersections. During this time, unless a spare drilling riser can beobtained, the drilling rig would not be able to operate. Drilling rigsare very costly on a daily basis.

It has been proposed to inspect the drilling risers at the drillingvessel. Many drilling vessels have the ability to stack the risersections horizontally on the vessel while not in use. However, there area number of problems in doing so. The interior of the drilling riser isoften not very clean, and may be coated with dried drilling mud. Thecentral riser pipe is often out of round (not cylindrical) in portions.The welded areas of the central pipe may be misaligned slightly. Also,there is normally not much access room on the drilling rig at the endsof each riser section for staging the equipment necessary to do theinspection. Additionally, the riser sections often do not contain flawsand thus are subjected to unnecessary stress caused by the disassembly,inspection, and reassembly of the riser sections.

Thus, recognized is the need for an internal riser inspection devicethat can perform both a wall thickness and welded defect analysis on adeployed drilling riser. Also recognized is the need for an internalriser inspection device capable of withstanding high operating depthpressure and a wide array of temperatures and capable of being run on awire line.

SUMMARY OF THE INVENTION

In view of the foregoing, embodiments of the present inventionadvantageously provide an inspection system which includes an inspectionapparatus that is wireline deployable within a bore of a riser pipesection of a deployed drilling riser pipe. For example, in an embodimentof the present invention, an apparatus for inspecting verticallysupported pipe includes an inspection unit having a longitudinal axisand adapted to be connected to a line for lowering into and retrievingfrom the pipe. The inspection unit can include a housing having aproximal end, a distal end, a housing body positioned there between, andan inner housing chamber formed in the housing body.

A wireline extending between the housing of a remote wireline spool isremotely positioned on the deployment platform for raising and loweringthe inspection unit. A centralizer can be connected to an externalsurface of the housing body. The centralizer is adapted to conform tovarying pipe inner diameter sizes and has an outer periphery forslidingly contacting the pipe as the inspection unit moves through thepipe. This allows the inspection unit to have a much smaller outerdiameter than the inner diameter of the pipe being inspected. Thecentralizer also can maintain the inspection unit substantially in thecenter of the inner diameter of the pipe, and can maintain thelongitudinal axis of the inspection unit substantially aligned with alongitudinal axis of the pipe. An umbilical cord including a dataconductor can be positioned between the proximal end of the housing anda controller remotely positioned on a deployment platform. An umbilicalspool can, in turn, be positioned on the deployment platform for storingand deploying the umbilical cord.

A rotating time of flight diffusion (TOFD) module is carried by theinspection unit and is preferably positioned within the inner housingchamber. The module includes a pair of rotatably mounted weld volumeinspection transducers adapted to inspect for and obtain data on weldvolume defects, and which rotate during inspection at a circumscribeddiameter that is less than the diameter of the centralizer at theperiphery. The module can also include a rotatable shaft positionedparallel to the longitudinal axis of the housing. A pair of weld volumeinspection transducer mounts can be connected to the rotatable shaft.Correspondingly, each of the weld volume inspection transducers can beconnected to one of the weld volume inspection transducer mounts. Themodule is surrounded by a fluid carrier positioned within the innerhousing chamber of the inspection unit. The weld volume inspectiontransducers rotate in sliding contact with an inner diameter of thefluid carrier. An acoustic fluid further provides a liquid couplingbetween each of the pair of weld volume inspection transducers and thehousing.

A wall thickness module is also carried by the inspection unit andpreferably positioned within the inner housing chamber. The wallthickness module includes a plurality of preferably nonrotating andfixedly mounted ultrasonic wall inspection transducers that are adaptedto obtain data on wall thickness of a portion of the pipe. The wallthickness inspection transducers during inspection are located at acircumscribed diameter less than the diameter of the centralizer at theperiphery. A housing surrounding the wall thickness module contains anacoustic fluid to provide a liquid coupling between each of the wallthickness inspection transducers and the housing.

Embodiments of the present invention also include methods of inspectinga vertically supported drilling riser. For example, according to anembodiment of the present invention, the riser is lowered from aplatform into seawater and seawater is allowed to enter the riser. Theoperator then disconnects a lower marine riser package of the drillingriser from a blowout preventer and flushes an inner diameter of thedrilling riser with a cleansing fluid such as seawater. The operatorthen deploys an inspection apparatus into the vertically supporteddrilling riser containing preferably seawater. The inspection apparatusincludes at least one but preferably a plurality of acousticaltransducers. The operator centralizes the inspection apparatus in thedrilling riser with the transducer spaced inward from a wall of theriser by an annular clearance. The inspection unit can include aplurality of fixedly mounted ultrasonic wall inspection transducers fordetermining wall thickness of a portion of the drilling riser and aplurality of rotatably mounted weld volume inspection transducers,rotatable about a longitudinal axis of the inspection apparatus, forinspecting weld volume defects. The operator can periodically cause thewall thickness transducers to emit an acoustical signal through theseawater in the annular clearance and into the wall of the drillingriser and detect a return acoustical signal from the wall of thedrilling riser to determine wall thickness. The operator can then eithertake wall thickness readings on the way down or on the way back up,however, taking the wall thickness readings on the way down is thepreferred methodology. Periodically, the internal pressure within theinspection apparatus can be equalized with the hydrostatic pressure inan inspection area through use of acoustic liquid. This can beaccomplished by flooding the inspection apparatus housing with a liquid.

Once reaching the bottom of the drilling riser, the inspection apparatuscan be retracted and can inspect the welds of the drilling riser. Uponreaching a weld inspection site, the operator stops vertical movementalong a longitudinal axis of the drilling riser, then rotates theplurality of weld volume inspection transducers about a radial axis ofthe inspection apparatus. The operator positions the inspectionapparatus in a location or position that places a first and a secondweld volume inspection transducer on opposite sides of a weld, thensimultaneously rotates the first and the second weld inspectiontransducers, causing the first weld inspection transducer to emit anacoustical signal into the weld and the second weld inspectiontransducer to receive a return acoustical signal. The operator collectsdata at each inspection site while the plurality of weld volumeinspection transducers are rotated to determine if a volume of the weldhas any defects.

The operator can then extract data from the inspection apparatus todetermine whether a section of the drilling riser requires additionalinspection and repair based upon the severity of any determined defect.If one so exists, the operator can recover, for additional inspectionand repair, only those sections of the drilling riser determined to havea severe defect and need only incidentally recover those sectionslocated above a lowest section of those sections determined to requirerecovery.

BRIEF DESCRIPTION OF THE DRAWINGS

So that the manner in which the features, advantages and objects of theinvention, as well as others which will become apparent, are attainedand can be understood in more detail, a more particular description ofthe invention briefly summarized above may be had by reference to theembodiment thereof which is illustrated in the appended drawings, whichdrawings form a part of this specification. It is to be noted, however,that the drawings illustrate only a preferred embodiment of theinvention and is therefore not to be considered limiting of its scope asthe invention may admit to other equally effective embodiments.

FIG. 1 is a perspective view of a prior art floating platform havingdeployed drilling riser.

FIG. 2 is a schematic diagram of a system to inspect the verticallysupported drilling riser pipe of FIG. 1, according to an embodiment ofthe present invention.

FIG. 3 is a schematic diagram of an apparatus to inspect verticallysupported drilling riser pipe, according to an embodiment of the presentinvention.

FIG. 4 is a perspective view of the inspection apparatus of FIG. 3having portions thereof broken away for clarity, according to anembodiment of the present invention.

FIG. 5 is a cross-sectional view of the inspection apparatus taken alongthe 5-5 line of FIG. 4, according to an embodiment of the presentinvention.

FIG. 6 is a perspective view of one of the transducer assemblies of theinspection apparatus of FIG. 4, according to an embodiment of thepresent invention.

FIG. 7 is a schematic illustration of the various components of theinspection system of FIG. 2, according to an embodiment of the presentinvention.

FIG. 8 is a cross-sectional view of the inspection apparatus taken alongthe 8-8 line of FIG. 4, according to an embodiment of the presentinvention.

FIG. 9 is a schematic cross-sectional view of a weld of the drillingriser of FIG. 1, showing TOFD transducers inspecting for defects in thevolume of the weld, according to an embodiment of the present invention.

FIG. 10 is a schematic cross-sectional view of the weld of FIG. 8,showing pulse echo shear wave transducers inspecting for defects in theroot of the weld, according to an embodiment of the present invention.

FIG. 11 is a schematic cross-sectional view of a portion of the riser inFIG. 1, showing an ultrasonic transducer measuring wall thicknessutilizing a pulse echo method, according to an embodiment of the presentinvention.

DETAILED DESCRIPTION

The present invention will now be described more fully hereinafter withreference to the accompanying drawings which illustrate embodiments ofthe invention. This invention may, however, be embodied in manydifferent forms and should not be construed as limited to theillustrated embodiments set forth herein. Rather, these embodiments areprovided so that this disclosure will be thorough and complete, and willfully convey the scope of the invention to those skilled in the art.Like numbers refer to like elements throughout, and the prime notation,if used, indicates similar elements in alternative embodiments.

Referring to FIG. 1, shown is a deployed drilling riser pipe 15extending between a floating vessel having an operational platform 16and the sea bottom (not shown). A spider 17, located on the operationalplatform 16, provides support to a proximal end of the deployed drillingriser pipe 15. The deployed drilling riser pipe 15 is further connectedat its distal end to a lower marine riser package 18 (“LMRP”). The LMRP18 is releasably connected to a blowout preventer (“BOP”) 19. A diverter(not shown) is located at the upper end of riser 15 and has anelastomeric element that closes around a section of pipe of the drillingriser pipe 15. A side outlet of the diverter delivers the drilling fluidto equipment for clearing the drilling fluid as it circulates.

As perhaps best shown in FIG. 2, the inspection system of this inventionincludes an inspection apparatus 21 that is wireline deployable within abore 23 of a riser pipe section of the deployed drilling riser pipe 15.This deployment, further described later, is preferably accomplished byeither deploying the inspection apparatus 21 through a diverter (notshown) or on the drilling riser pipe 15 while hung off a spider 17.

Referring to FIGS. 2, 3, and 4, the inspection apparatus 21 includes atool housing having a tool housing body 27 and an inner housing chamber29 that contains several distinct functional modules for locating and/orinspecting a riser pipe section of the deployed drilling riser pipe 15.Each module further can have its own module housing including an axiallyspaced apart proximal wall, distal wall, and a preferably cylindricalsidewall positioned therebetween, and an inner module chambertherewithin. Those modules preferably include a video module 31, arotating Time of Flight Diffusion (“TOFD”) module 33, a non-rotatingpulse echo wall thickness module 35, a CPU/memory data convert module37, a power supply module 39, and a wire terminal module 41. Each of themodules is positioned within the inner housing chamber 29 and ispreferably independently sealed from the others and can includeprovisions for pressure equalization either internally or throughventing through preferably filtered vent apertures (not shown). Acentralizer 47, preferably in the form of a plurality of bow springs,engages the inner diameter of the drilling riser pipe 15 in order tomaintain the inspection apparatus 21 aligned within the drilling riserpipe 15 during deployment and extraction and to prevent the inspectionapparatus 21 from rotating. The centralizer 47 allows the tool housingbody 27 to have a smaller outer diameter. For example, on a twenty-oneinch riser pipe, the outer diameter can be ideally selected to beapproximately twelve inches.

In the preferred embodiment of the present invention, the inspectionapparatus 21 can further be described as truly modular in nature suchthat the inspection apparatus 21 need only be selectively loaded withmodule components (tools) required for an individual user's (customer's)desired application. The housings of each of the modules 31, 33, 35, 37,39, 41, contain the various electronics and other equipment required toperform the testing.

Referring to FIGS. 2 and 3, the operational portion of the inspectionsystem, inspection apparatus 21, can be suspended by a primary wirelineor cable 40 positioned on a wireline spool 42 which can be controlled byan operator having access to a preferably surface-based controller 43.The primary wireline or cable 40 and control thereof is well known tothose skilled in the art and thus, will not be described in detail.Controller 43 may be a personal or laptop computer connected to a dataconverter 44 or an automatic on-board controller positioned in theCPU/memory data convert module 37. Regardless of the location,controller 43 can command the extension and retraction of the inspectionapparatus 21 down through a bore 23 of the deployed drilling riser pipe15 in order to collect data regarding the status of the drilling riserpipe 15. Data can be compiled and stored in the CPU/memory data convertmodule 37 for later downloading or can be transmitted directly to thesurface controller 43 via an umbilical cord 45 deployed from anumbilical cord spool 49, with power to the apparatus 21 preferably beingsupplied through the umbilical cord 45 via a power converter 55. Thecentralizer 47, described in further detail later, maintains theinspection apparatus 21 aligned within the drilling riser pipe 15 duringdeployment and extraction. Note, the primary wireline or cable 40 isalso preferably collected and stored on the wireline spool 42 similar tothat of the umbilical cord spool 49, and thus, the following discussionregarding the umbilical cord spool 49 can apply equally to the primarywireline spool 42.

In an embodiment of the present invention, the spool 49 can beassociated with a cable length tracker 51 that tracks the amount ofumbilical cord 45 or wireline 40 deployed in order to provide theoperator with an indication of the vertical distance that the inspectionapparatus 21 is located from a zero point at the top end of the drillingriser pipe 15 or other selected reference point. The cable lengthtracker 51 is mounted adjacent a deployment section of the spool 49 toprovide the relative position of the inspection apparatus 21 withrespect to its location within the drilling riser pipe 15. The cablelength tracker 51 is known to those skilled in the art and can be, forexample, a conventional odometer-type unit that uses a light beam thatpasses through a number of apertures (not shown) formed in a disc (notshown), the disc rotating responsive to the deployment of the umbilicalcord 45 or wireline. The disc freewheels and thus is not subject tocable slippage that would erroneously affect the odometer informationprovided to the operator.

In an alternate embodiment of the present invention, the primarywireline or cable 40 has one or more electrical conductors, and thus canbe provided to not only deploy or retrieve the apparatus 21, but also toprovide for the transmission of control signals, the receipt of datasignals, and the transmission of electrical power. In this alternateembodiment, the cable length tracker 51 is associated with wireline 40rather than umbilical cord 45, the separate umbilical cord 45 not beingnecessary. In still another embodiment of the present invention, theinspection system includes an emergency recovery system that can allowrecovery of the apparatus 21 in the event of a breakage of the primarywireline 40. The emergency recovery system is preferably in the form ofa secondary wireline or cable (not shown) positioned within theumbilical cord 45.

Referring to FIGS. 2 and 7, the controller 43, preferably in the form ofa surface-based controller, can remotely control the inspectionapparatus 21 through the umbilical cord 45, which includes power/controllines, therein. The controller 43 includes a power supply/converter (notshown) and standard computer components such as a monitor, a keyboard,and a joystick. The controller 43 accepts input from the CPU/memory dataconvert module 37, through conductors in the umbilical cord 45 and dataconverter 44 to record and store data and imagery of the deployeddrilling riser pipe 15. Controller 43 also accepts input from the cablelength tracker 51 to control the deployment of the inspection apparatus21. The controller 43 can control the deployment and retraction rate ofthe inspection apparatus 21 through the spool 49 using feedback from thecable length tracker 51.

Control signals are also sent by the controller 43 through theCPU/memory data convert module 37 to provide instructions and control tothe non-rotatable pulse-echo wall thickness module 35, the rotating TOFDmodule 33, and the video module 31. The controller 43 can allow theoperator to utilize the video module 31 to search for welds 52 orexamine the inner diameter of the drilling riser pipe 15 for corrosionor obstructions, and can allow the operator to command the TOFD module33 to perform the TOFD and/or shear wave inspection on a located weld52. Advantageously, the video module 31, rotatable TOFD module 33, andnon-rotatable pulse-echo wall thickness module 35 can each be controlledindependently. The CPU/memory data convert module 37 can, in real-time,provide the controller 43 with return data collected by thenon-rotatable pulse-echo wall thickness module 35, the rotating TOFDmodule 33, and the video module 31, or can store part or all of the datafor later download. Advantageously, the CPU/memory data convert module37 can include or interface with sound filters (not shown) so that onlythe desired sound energy will be received or returned.

Many of the functions of the controller 43 can be implemented in theCPU/memory data convert module 37 and thus, the inspection apparatus 21can run fully automated, gathering data for later download. Thenon-rotating pulse echo module 35 or a separate pulse echo module (notshown) preferably adjacent the video module 31 can be used for detectingand storing the location of the welds 52. Having located the welds, thecontroller 43 can position the video camera module 31 adjacent the weld52 to selectively record the appearance of the weld 52 to be inspectedby the TOFD module 33, and can position the TOFD module 33 adjacent theweld to perform the weld volume and/or weld root inspection.Alternatively, the controller 43 or CPU/memory data convert module 37can be preprogrammed to allow for data acquisition at pre-programmedpoints without the need for the apparatus 21 to necessarily stop itsvertical decent or recovery, depending upon the modular configuration ofthe apparatus 21.

The controller 43 and/or the CPU/memory data convert module 37 can alsomonitor and control internal pressure, if necessary, depending uponwhether the modules are vented or whether the modules are provided withinternal pressurization equalization. This allows the apparatus 21 toachieve depths as deep as 10,000 feet below sealevel.

Referring to FIG. 3, the wire terminal module 41, also positioned withinthe inner chamber 29 of housing 27, provides an electrical power and/ordata connection between the controller 43 and support modules 37, 39,and operational modules 31, 33, 35, according to a method as known andunderstood by those skilled in the art.

The power supply module 39 of the inspection apparatus 21 is alsopositioned within the inner chamber 29 of housing 27. The power supplymodule 39 performs power conversion of the external power suppliedthrough the umbilical cord 45 and provides conditioned power to thevarious modules of the inspection apparatus 21. Alternatively, the powersupply module 39 can contain either a primary or backup power source toindependently power the inspection apparatus 21.

The centralizer 47 is primarily positioned external to the outer surfaceof the housing 27 and is adapted to maintain the operational portion ofthe inspection apparatus 21 aligned within the drilling riser pipe 15.The centralizer 47 aids in stabilizing the inspection apparatus 21. Inone embodiment of the present invention, the centralizer 47 includes aplurality of spring bands connected to the external surface of thehousing 27, as illustrated. In a second embodiment of the presentinvention, the centralizer 47 is in the form of a plurality of wheels(not shown) spring biased outwardly away from and perpendicular to thehousing 27 and correspondingly perpendicular to the inner diameter ofthe drilling riser pipe 15. Either of these embodiments provide theinspection apparatus 21 the ability to substantially maintainlongitudinal alignment with the longitudinal axis of the drilling riserpipe 15 while passing over imperfections on the inner diameter of thedrilling riser pipe 15. The centralizer 47 also can provide sufficientfriction with the inner diameter of the drilling riser pipe 15 toprevent unwanted rotation caused by the torque or inertia resulting froma rotation of the rotatable TOFD module 33.

Referring to FIGS. 3 and 4, as noted above, the inspection apparatus 21is a relatively self-contained unit. The tool housing body 27 preferablysurrounds an inner housing chamber 29 that encloses the several modulesections. The tool housing body 27 is capped at a proximal end by aproximal housing cap 59 and capped at a distal end by a distal housingcap 61. The proximal housing cap 59 and distal housing cap 61 arepreferably threadingly engaged with and sealed to the innercircumference of the proximal and distal ends of the housing body 27.Alternatively, the caps 59, 61, may be threaded to an external portionof the proximal end of the housing body 27, welded on either internal orexternal portions, or attached by other means as known and understood bythose skilled in the art. The proximal housing cap 59 includes anopening 63 which allows the umbilical cord 45 to transit between thewire terminal module 39 and the external environment. A primary seal 65includes an umbilical cord conduit 67 that sealingly surrounds theumbilical cord 45 at opening 63. The primary seal 65 is preferably ofthe type that can be threaded into opening 63 in the proximal housingcap 59 but can be connected by other means known to those skilled in theart. Note, although the tool housing body 27 can be in the form of aframe structure rather than a solid body, as illustrated in FIG. 3,providing the tool housing body 27 in the form of a solid body ispreferred as there could be residual debris remaining in the deployedriser pipe 15.

The tool housing body 27 is preferably vented with seawater 28 to removeair and allow pressure equalization between the inner diameter of thetool housing body 27 and outer diameter of each of the modules.Correspondingly, each of the modules positioned within the tool housingbody 27 are further preferably vented within the inner housing chamber29, to allow for the removal of air and to provide for pressureequalization between the outer surface of each module and inner modulechamber of each module. In an alternative embodiment of the presentinvention, instead of venting the tool housing and each of the modules,the umbilical cord 45 can include a pressure line (not shown),therewithin. A pressure sensor, preferably in the form of a pressuretransducer 68 and preferably connected to the proximal housing cap 59,can transmit a signal back to the controller 43. A pressure pump (notshown), responsive to either the controller 43 or the CPU/data convertmodule 37, can then provide pressurized fluid through the pressure linein the umbilical cord 45 to substantially equalize the internal pressureof the tool housing body 27 and internal pressure of each of the moduleswithin the tool housing body 27 to preferably that of the hydrostaticpressure associated with that encountered by the pressure transducer 68.Regardless of the configuration, the electronic components within theCPU/memory data convert module 37, power supply module 39, and wireterminal module 41 are sealed with a sealed means known and understoodby those skilled in the art to prevent corrosion.

Referring to FIGS. 3 and 4, in the illustrated embodiment, theinspection apparatus 21 includes a video module 31, a rotating TOFDmodule 33, a non-rotating pulse echo wall thickness module 35, aCPU/memory data convert module 37, a power supply module 39, a wireterminal module 41, and a centralizer 47. The video module 31 ispositioned within the inner housing chamber 29, preferably adjacent thedistal end of the tool housing body 27, and is positioned to view aninner diameter of the drilling riser pipe 15. The housing body 27adjacent the video module 31 is preferably substantially transparentaround its entire circumference to provide for visual viewing fromwithin the video module 31. The video module 31 includes a rotationalarm or plate 69 that is mounted to a video module drive shaft 71 drivenby a video module rotational motor 73 (FIG. 7). A pair of video cameras75 are preferably mounted to the rotational arm or plate 69 to provideindependent positioning of the video cameras 75 in order to provide avisual inspection and recording of the inner diameter of the drillingriser pipe 15 and to detect a position of a weld 52. Alternatively, thevideo camera or cameras 75 can include lenses such as wide-angle lenses(not shown) and can be fixedly mounted to view the inner diameter of thedrilling riser pipe 15 from a single fixed position. This feature isavailable because the inspection apparatus 21 can be maintainedapproximately in the center of the bore 23 (FIG. 1) of the drillingriser pipe 15. A video encoder 79 (FIG. 7) provides the azimuthinformation to the controller 43 if being controlled by an operator orto the CPU/data convert module 37 if functioning in a preprogrammed orautomated mode.

Referring to FIGS. 3 and 4, the rotating TOFD module 33 of theinspection apparatus 21 can also be positioned within the inner housingchamber 29. The rotating TOFD module 33 includes a TOFD housing 80having an inner chamber containing the TOFD modular components. The TOFDmodular components include a fluid carrier 81 positioned to line atleast a portion of the inner diameter (inner surface peripheries) of thehousing 80. The fluid carrier 81 is preferably in the form of a flexiblebladder filled with fluid to insure that there are no air gaps whichwould cause disruption of the sound signal. A mounting apparatus knownand understood by those skilled in the art, such as, for example, a pairof annular snap rings 82 holds the fluid carrier 81 in the selectedlocation. A pair of O-rings 83 positioned adjacent proximal and distalsides of the fluid carrier 81 seal the fluid carrier 81 into TOFD modulehousing 80. The inner chamber of the TOFD housing 80 contains a fluidsuch as seawater 28 in a configuration where the modules are vented oran acoustic fluid in a configuration where the modules are sealed. Theinner chamber of the housing body 27 also contains a fluid such asseawater 28 in a configuration where the housing body 27 is vented or anacoustic fluid in a configuration where the housing body 27 is sealed.The fluid can form a liquid coupling which provides for the transmissionof soundwaves (described later) from within the TOFD module 33 and tothe drilling riser pipe 15.

Included within the module also is a TOFD drive shaft 84 which extendsparallel to the longitudinal axis L of the housing 15, and proximal anddistal support plates 85, 86, positioned parallel to each other andmounted to the TOFD drive shaft 84. A plurality of support rods 87extend between the proximal and distal support plates 85, 86, and areparallel to each other and parallel to the axis of drive shaft 84. ATOFD module rotational motor 89 (FIG. 7) is further connected to thedrive shaft 84. The TOFD module rotational motor 89 has a linkage (notshown) that allows it to rotate the drive shaft 84 in an increment thatpreferably is no more than one revolution, preferably either 90 or 180degrees, then rotate back the other direction.

The TOFD module 33 can perform an inspection on a first weld 52 byrotating the module 33 either clockwise or counterclockwise for theselected degrees of rotation, and can perform an inspection on a secondweld 52 by rotating in an opposite direction for the selected degrees ofrotation. A rotational encoder 91 (FIG. 7) provides an azimuthindication of the precise angle of rotation of drive shaft 84 to theoperator through the CPU/memory data convert module 37 if beingmanipulated “real-time” and/or to the CPU/memory data convert module 37for independent control if being deployed in a preprogrammed automaticrun sequence.

A plurality of transducer mounting blocks 93 (FIG. 6) are mounted to asupporting structure such as support rods 87 or alternatively directlyto one of the support plates 85, 86. When configured to mount to supportrods 87, the transducer mounting blocks 93 can be positioned atpreselected points along the lengths of support rods 87, whichpreferably extend through holes within them. The longitudinal locationsfor positioning the mounting blocks 93 can be selected dependent uponthe approximate longitudinal length of the welds 52 to be inspected.

Referring to FIG. 6, each transducer mounting block 93 can also includea pair of supporting rods 95 which are preferably fixedly located at apredetermined radial position commensurate with the inner diameter ofthe TOFD module housing 80 and thickness of fluid carrier 81. Theplurality of supporting rods 95, alternatively, can be in the form ofadjustable extensions including appropriate mechanical linkage forprepositioning the supporting rods 95 radially inward and outwardbetween retracted and extended positions. A transducer plate 97 ismounted to the outer ends of the support rods 95 for carrying atransducer shoe 99. The transducer shoe 99 can be a hard plasticmaterial and, in an embodiment of the present invention, can be readilyreplaced for different inner diameters of TOFD module housing 80.

The TOFD module housing 80 (FIG. 4) is selected based on the innerdiameter of tool housing 27, which can be further selected based on theinner diameter of the drilling riser pipe 15. The transducer shoe 99 canbe connected to the transducer plate 97 by a means known by thoseskilled in the art. In an embodiment of the present invention, a pair ofbraces 103 can be used. The braces 103 can extend outward from driveshaft 84 and are preferably angled relative to the longitudinal axis Lof the housing 27.

Referring to FIGS. 5 and 6, each transducer shoe 99 has an outer facethat can curve in a convex form for rotationally mating with the innerdiameter of the fluid carrier 81, which is, inturn, fixedly positionedin contact with inner surface peripheries of the TOFD housing 80, whichis further fixedly positioned with respect to tool housing body 27. TheTOFD rotational motor 89 (FIG. 7) can drive the drive shaft 84 whichcauses each transducer shoe 99 to rotate relative to, and in contactwith, the fluid carrier 81. The fluid carrier 81 insures that there isno airgap between the TOFD housing 80 and the transducer shoe 99. Anyair trapped between the TOFD housing 80 and tool body housing 27 shouldbe purged through venting, if so configured. Whether or not soconfigured, any trapped air should gravitate away from the inner portionof the tool housing 27 adjacent the TOFD module 33 and wall thicknessmodule 35 and toward the proximal end of tool housing body 27 due to thevertical deployment. The centralizers 47 (FIG. 1) prevent rotationbetween the tool housing body 27 and the riser pipe 15, thus, resultingin a relative rotation between the riser pipe 15 and the transducers 93.This relative rotation allows for the TOFD inspection, described later.

Referring to FIG. 6, in an embodiment of the present invention, a recessor cavity 105 can extend from the outer face of each transducer shoe 99inward through transducer shoe 99 and transducer housing 107. Atransducer 109 is mounted preferably to the inward side of upper spacerblock 107 at the base of recess 105. The transducer 109 can be aconventional piezoelectric device that will emit and/or receiveacoustical signals. A small flexible tube 110 can join a fluid passage(not shown) in each transducer housing 107 for delivering fluid to therecess 105 to ensure there are no air gaps between transducer 109 andthe inner diameter of the fluid carrier 81, which would cause a loss ofacoustic signal. Tube 110 and can also serve provided fluid to aid inpressure equalization. In a configuration where the TOFD module 33 isvented to the ambient seawater 28, fluid supplied by the small flexibletube 110 can further help minimize risk of debris contamination withinthe module inner chamber. A fluid supply line (not shown) within theumbilical cord 45 can provide such fluid to the tube 110. In thepreferred embodiment, each transducer shoe 99 has only one transducer109. Conductors, such as the pair of wires 111, illustrated, lead to thetransducer 109 to supply electrical energy to cause a sound pulse to beemitted or to receive a sound pulse converted to electrical energy. Thetype of transducer used for pulse echo measurements convert acousticalreflected signals received into electrical energy, which is transmittedthrough the wires or other forms of conductors to the CPU/memory dataconvert module 37.

Referring to FIG. 4, the rotating TOFD module 33 preferably also has twoTOFD transducer pairs adapted to inspect for and obtain data on weldvolume defects by the TOFD method, one transducer 109 of each pair oftransducers acting as a transmitter and the other transducer 109 of theeach pair of transducers acting as a receiver. The TOFD transducers 109within each pair are spaced axially apart a selected distance along thelongitudinal axis L of the housing 27, with one TOFD transducer 109being more forward of the other. Each pair of TOFD transducers 109 is180 degrees from the other pair of transducers. The forward transducer109 in each pair is located in the same radial plane as the forwardtransducer 109 in the other pair. Similarly, the rearward transducer 109in each pair is located at the same axial position along thelongitudinal axis L of the housing 27 of the inspection apparatus 21 asthe rearward transducer 109 of the pair located 180 degrees away. Thoughonly one pair of TOFD transducers 109 is required, one adjacent andaxially forward of the other, the implementation of two pairs lessensthe requirement of rotation to that of 180 degrees. Alternatively, fourpair of TOFD transducers 109 would reduce this requirement to that of 90degrees. Note, a different number of transducer pairs along with adifferent number of associated mounts can alternatively be utilized.

Referring to FIG. 9, shown is the TOFD method. As stated above, withineach pair of the TOFD transducers 109, one of the TOFD transducers 109is a transmitter and the other is a receiver, with the receiver spacedaxially from the transmitter. The TOFD transducers 109 are positioned byor through the use of the controller 43 on both sides of and in closeproximity to a weld 52. The weld 52 is a typical weld formed between twobeveled ends of tubular members that make up a section of the drillingriser pipe 15. The weld 52 typically has a triangular cross-section,with the apex or root of weld 52 being at the inner diameter of thesection of the drilling riser pipe 15 and the weld cap at the outerdiameter of the section of the drilling riser pipe 15. The axialdistance between the TOFD transducers 109 in each pair of TOFDtransducers is greater than the width of the cap of weld 52. The TOFDtransducers 109 are preferably angled toward each other so that thesignal from the transmitter TOFD transducer 109 passes through the wallof the drilling riser section being inspected at a selected angle, suchas, for example, about 60 degrees and reflects ultrasonic energy (soundwaves) to the receiver TOFD transducer 109.

TOFD transducers 109 are rotated by the TOFD module rotational motor 89(FIG. 7) the predetermined angular distance about the TOFD drive shaft84 (FIG. 4) while the transmitter TOFD transducer 109 emits soundpulses. The sound pulses (acoustic signals) pass through any acousticfluid, e.g., seawater 28, between transducer 109 and fluid carrier 81,through fluid carrier 81, through the TOFD module housing 80, throughany acoustic fluid between the TOFD module housing 80 and the toolhousing body 27, through the tool housing body 27, through the ambientseawater 28, through the drilling riser pipe 15, and through the volumeof the weld 52. If there is no flaw 113 in the weld, the signal willreflect off the outer diameter of the weld 52 and return back to thereceiver TOFD transducer 109. If the weld 52 has a flaw 113, some of thesignal will be diffracted at the tips of the flaw 113. The diffractedacoustic signals are then also received by the receiver TOFD transducer109, as illustrated. The time that it takes for the sound waves to reachreceiver TOFD transducer 109 is different for the diffracted patterncaused by the flaw 113 versus the non-diffracted pattern. Thisdifference is analyzed in a manner known by those skilled in the art toprovide an indication of the flaw 113. This described TOFD methodmeasures the volume of the weld 52, which includes substantially all ofthe weld 52 except for the root portion adjacent of the inner diameterof the drilling riser pipe 15. The TOFD inspection methodology is verycapable of determining defects for the volume of weld 52 but lackscapability for properly inspecting the root of weld 52.

Referring to FIG. 10, in an embodiment of the present invention, theinspection apparatus 21 also has two shear wave transducer pairs (FIGS.4 and 5) adapted to inspect for and obtain data on weld root defects bypulse echo shear wave techniques. Each shear wave transducer 117 of apair can be spaced a selected axial distance from the other transducers117 of the pair, and each pair of transducers 117 can be positionedapproximately the same axial distance as the forward and rearward TOFDtransducers 109. The pairs of shear wave transducers can be also located180 degrees apart from each other. One of the shear wave transducers 117of the each pair of transducers is positioned to transmit an acousticsignal to the other shear wave transducer 117 of the pair and to receivean acoustic signal on a different frequency from the other shear wavetransducer 117. The other shear wave transducer 117 of the pair of shearwave transducers also functions accordingly. In an embodiment of thepresent invention, the pair of TOFD transducers 109 is located at thezero degree position and another pair at the 180 degree positions, whileshear wave transducers 117 are located at the 90 degree and 270 degreepositions.

The pulse echo shear wave technique can be employed, as illustrated inFIG. 10, to inspect for any flaws in the root portion of weld 52. Eachshear wave transducer 117 is preferably of a pulse echo type, havingboth a receiver and a transmitter, and can be angled toward the other ina manner similar to TOFD transducers 109 (FIG. 9). The shear wavetransducers 117 are also axially spaced apart along the longitudinalaxis of housing 27 for positioning on opposite sides of weld 52 at aspacing similar to that of the TOFD transducers 109. Each shear wavetransducer 117 within each pair emits a sound pulse, but at a slightlydifferent time from the other transducer 117 in the same pair so as toavoid interference with each other. The shear wave transducers 117 areoriented so that the sound waves are directed toward the outer diameterof the section of the drilling riser pipe 15 near but not through thevolume of weld 52. The angles are selected so that the sound pulse willcontact the outer diameter of the drilling riser pipe 15 and reflectback through the root of weld 52. Functionally, if the root is free ofany defects, the reflected signal contacts the inner diameter of thesection of the drilling riser pipe 15 between shear wave transducers 117and reflects back outward. Because of the positioning of the shear wavetransducers 117, the shear wave transducers 117 should not receive anyreflected signals if the root is free of defects. However, if a flaw isencountered, diffraction will occur, and one or both of the shear wavetransducers 117 in each pair will receive a return signal that emanatedfrom the other shear wave transducer 117. The controller 43 analyzes thereturn signal in a known manner to provide an indication to theoperator.

Ultrasonic transducer signals (acoustic signals) are sent from withinthe portion of the housing 27 surrounding the rotating TOFD module 33without either transducer 109, 117, having to make contact with the bodyof the drilling riser pipe 15. This is accomplished by flooding theinner diameter of the drilling riser pipe 15 with seawater 28 or someother acoustic liquid fluid in order to act as a medium or liquidcoupling for carrying sound energy from the apparatus 21 to the body ofthe drilling riser pipe 15. Additionally, the venting of the toolhousing body 27 and TOFD module 33 with either seawater or supplying itwith some other liquid coupling fluid allows for transport of the signalfrom within the inner chamber 29 of the inspection apparatus 21. Asdescribed above with respect to the TOFD transducers 109, whether thetransducers 109, 117, are used for weld root or weld volume inspection,through use of an acoustic fluid such as seawater 28, the ultrasonictransducer signals can pass from the transducers 109, 117, through theacoustic fluid forming a liquid coupling, through the fluid carrier 81,through the TOFD module housing 80, through any acoustic fluid fillingany gap between the outer diameter of the TOFD module housing 80 andinner diameter of the tool housing body 27, through the tool housingbody 27, through the ambient seawater 28 (forming a liquid coupling),through the drilling riser pipe 15 adjacent the weld 52, and finallythrough the weld 52. Note, maintaining a liquid coupling in contact withboth the drilling riser pipe 15 and transducers 109, 117, is animportant feature used to ensure proper operation of the TOFD module 33.If any air is present, the acoustic signal may be lost.

Referring to FIGS. 3, 4 and 8, the non-rotating pulse echo wallthickness module 35 of the inspection apparatus 21 can also bepositioned within the inner chamber 29 of housing 27. The non-rotatingpulse echo wall thickness module 35 includes a non-rotating pulse echowall thickness module housing 120 having an inner chamber containing aliquid coupling fluid, e.g. seawater 28, and preferably containing a 32channel fixedly mounted transducer array that measures wall thicknessutilizing pulse echo techniques. Referring primarily to FIG. 8, eachtransmitter/receiver pulse echo transducer 121 is of a type thattransmits and receives. The 32 transmitter/receiver pulse-echotransducers 121 are positioned substantially equally spaced apart upon apreferably nonmetallic retaining ring 123, each within a separatetransducer mount 125. Each transducer mount 125 includes a recess 127extending from within the mount into an outer surface positionedpreferably adjacent the inner diameter of the housing 120. Thetransmitter/receiver pulse echo transducer 121 is located adjacent thebase of the recess 127. A small flexible tube 129 can join a fluidpassage (not shown) in each transducer mount 125 for delivering fluid tothe recess 127 to ensure there are no air gaps between each transducer121 and the inner diameter of the module housing 120, which would causea loss of acoustic signal and can also serve to aid in pressureequalization. In a configuration where the wall thickness module 35 isvented to the ambient seawater 28, fluid supplied by the small flexibletube 120 can further help minimize risk of debris contamination withinthe module inner chamber. A fluid supply line (not shown) within theumbilical cord 45 can provide such fluid to the tube 129.

Each transducer mount 125 is positioned along the inner circumference ofthe housing 27 surrounding the non-rotating pulse echo wall thicknessmodule 35. The transmitter/receiver pulse echo transducers 121 arepositioned such that they point radially outward, normal to the innercircumference or diameter of housing 27, and thus normal to the sectionof the drilling riser pipe 15 being inspected. In the exemplaryembodiment, there are eight radial planes with four transmitter/receiverpulse echo transducers 121 on each plane, however, other than 32channels and other positional combinations are within the scope of thepresent convention. As shown in FIG. 4, transducers 121 within eachvertical plane are staggered relative to the transducers 121 in theplanes above and below. Preferably, one of the transducers 121 will belocated to approximately every 11.25 degrees around the circumference ofhousing 120.

Ultrasonic transducer signals (acoustic signals) are sent from withinthe housing 27 surrounding the non-rotating pulse echo wall thicknessmodule 35 without either transducer having to make contact with the bodyof the drilling riser pipe 15. As with the TOFD module 33, thenon-rotating pulse echo wall thickness module 35 can be eitherpre-filled with a liquid coupling fluid or can be vented with seawater28 from within the drilling riser pipe 15 in order to act as a medium orliquid coupling for carrying the sound energy to the body of thedrilling riser pipe 15. Preferably the housing 27 adjacent thenon-rotating pulse echo wall thickness module 35 is, however, vented tothe seawater 28 in the flooded body of the drilling riser pipe 15 asthis provides, not only the liquid coupling, but also economicallyprovides internal pressure equalization.

Referring to FIGS. 8 and 11, each transmitter/receiver pulse echotransducer 121 transmits an ultrasonic (acoustic signal) through theseawater 28, which communicates to the section of the drilling riserpipe 15 being inspected. The ultrasonic transducer signal is passed fromthe transducers 121, through fluid forming the liquid coupling, throughthe wall thickness module housing 120, through any liquid couplingfluid, e.g. seawater 28, filling any gap between the outer diameter ofthe wall thickness module housing 120 and inner diameter of the toolhousing body 27, through the tool housing body 27, through the ambientseawater 28 (forming a liquid coupling), through the drilling riser pipe15, and to the outer diameter of drilling riser pipe 15. The signal isthen reflected back to the inner diameter of the drilling riser pipe 15and to the apparatus 21 where it is received by the reference transducer121. The sound received by transducers 121 is converted into electricalsignals, which are transmitted to the controller 43 (FIG. 2) via a pairof wires 131 connected to the CPU/data convert module 37 which, in theillustrated embodiment, is electrically connected to the controller 43via conductors within the umbilical cord 45. The controller 43 analyzesthe signals in a conventional manner. The thickness of the section ofthe drilling riser pipe 15 being inspected is determined by measuringthe time that it takes for the signal to return to the inner diameter ofthe section of the drilling riser pipe 15.

Referring to FIG. 2, the non-rotating pulse-echo wall thickness module35 utilizes a separate channel for each transmitter/receiver pulse echotransducer. With 32 channels, no rotation is required for asubstantially full 360 degrees scan, because transducers 121 (FIG. 4)are located approximately every 11.25 degrees. Because the inspectionapparatus 21 need not be stopped to monitor wall thickness, in theillustrated configuration, an entirely automated system for measuringsuch wall thickness can be employed. Advantageously, the umbilical cord45 would not be necessary where the inspection apparatus 21 functionsentirely automated. Note that a different number of transducers than 32could be utilized to improve or reduce coverage or redundancy. Notealso, this non-rotatable feature is important because having asufficient number of transducers negates the requirement that theinspection apparatus 21 be stopped in order to inspect wallthickness/corrosion, and thus, further decreases the length of timedrilling riser operations are interrupted in order to perform aninspection.

Referring to FIG. 2, advantageously, embodiments of the presentinvention include methods of inspecting a vertically supported drillingriser pipe 15. In operation, the operator can inspect the wall thicknessand the status of the welds 52 of the drilling riser pipe 15 during oneround trip pass down and back up through the deployed drilling riserpipe 15. The inspection apparatus 21 does not need to be extracted fromthe drilling riser pipe 15 between inspecting for corrosion with pulseecho transducers 121 and inspecting for weld defects with TOFDtransducers 109 and/or the shear wave transducers 117. The operator cantake drilling riser pipe readings and inspect for corrosion on the tripdown to the lowest portion of the drilling riser pipe 15 to beinspected, and take weld readings on the way back up. This could,however, be reversed. Also, if desired, the operator could inspect thedrilling riser pipe 15 for corrosion and inspect the welds 52 as theyare encountered. Additionally, the inspection apparatus 21 can bepre-programmed by the operator to automatically perform the inspectionwithout additional operator control.

Referring to FIGS. 1 and 2, in the preferred technique, the operatorfirst disconnects a lower marine riser package 26 (FIG. 1) of thedrilling riser from a blowout preventer 19. The operator then flushes aninner diameter of the drilling riser pipe 15 with a cleansing fluid suchas, for example, seawater 28. Though not necessarily required for anelectronic inspection, where video devices are to be used, the cleansingprovides for an improved image of the inner diameter of the drillingriser pipe 15 to the operator. Additionally, the cleansing action canalso help prevent erroneous readings due to contaminants remaining alongthe inner diameter of a section of the drilling riser pipe 15 to beinspected. The operator connects the inspection apparatus 21 to wirelinedeployment spool 42 for deployment via wireline and functionallyconnects umbilical cord 45, generally housed on an umbilical cord spool49, to the controller 43. Alternatively, the CPU/memory data convertmodule 37 can be loaded with operator instructions and be batterypowered so that the inspection apparatus 21 can be deployed without theneed for control through the umbilical cord 45. The operator thendeploys or inserts the inspection apparatus 21 into an upper end of thevertically supported drilling riser 15 through use of a diverter (notshown) on the drilling riser pipe 15 or hung off a spider 17.

Referring to FIGS. 2, and 4, the inspection apparatus 21, provided bythe operator, can include a plurality of the fixedly mounted ultrasonicwall inspection transducers 121 for determining wall thickness of aportion of the drilling riser pipe 15. Also provided can be a pluralityof the rotatably mounted weld volume inspection transducers 109, whichare rotatable about a longitudinal axis L of the housing 27 of theinspection apparatus 21 for inspecting weld volume defects. Theinspection apparatus 21 can also include a plurality of the rotatablymounted weld root inspection transducers 117, which generally rotatewith the weld volume inspection transducers 109.

The wireline deployment spool 42 controlled by an operator through acontroller 43 lowers the inspection apparatus 21 down the bore 23 of thedrilling riser pipe 15 at a preselected rate and for a preselecteddistance. The operator then may make wall thickness tests with the wallthickness inspection transducers 121. During the descent, periodicallyeither real-time or through pre-programming, the operator causes thewall inspection transducers 121 to emit an acoustical signal into thewall of the drilling riser pipe 15 and to detect a return acousticalsignal from the wall of the drilling riser pipe 15 to determine wallthickness (FIG. 11).

The operator will normally be given instructions as to what longitudinalincrements, or inspection areas, the wall thickness inspections are tobe made. Also, the operator will be informed as to how many inspectionsites are to be made around the inner circumference or diameter of thedrilling riser pipe 15 at each inspection area or zone. In the preferredconfiguration, a sufficient numbers of wall inspection transducers 121can be positioned within the inspection apparatus 21 to cover the entire360 degrees of the inner diameter of the drilling riser pipe 15. Also,depending upon an amount of available storage capacity, preferablysubstantially the entire length of the drilling riser pipe 15 can beexamined, thus providing as much as 100 percent coverage. Alternatively,sampling methodologies can be implemented that will identify a pluralityof wall inspection sights along the drilling riser pipe 15 forcollecting wall thickness data with the plurality of wall inspectiontransducers 121. Through use of sampling, the wall thickness transducers121 can statistically cover a sufficient percentage of the drillingriser pipe 15 to allow less than 100 percent coverage yet still detectmost, if not all, discrepancies. Regardless of the sampling methodologyutilized, advantageously the wall thickness data can be collectedwithout interrupting vertical movement of the inspection apparatus 21.

During the descent of the inspection apparatus 21, the tool housing body27 and each of the module housings of each module can have theirrespective internal pressure substantially equalized to that of thehydrostatic pressure within the drilling riser pipe 15 associated withthe position of the apparatus 21. Such equalization pressure is providedto prevent damage to the inspection apparatus 21 potentially associatedwith very high pressures which are especially profound in the lowerportion of the drilling riser pipe 15. Equalization pressure can beapplied within the inspection apparatus 21. For example, the toolhousing body 27 and each of the modules can be pressurized by a fluidsupply line (not shown) in the umbilical cord 45. In the preferredconfiguration, however, especially regarding those modules equipped withultrasonic transducers, each module, along with the housing body 27, canbe entirely vented in order to allow seawater 28 to equalize thepressure.

The use of the ambient seawater 28 can be advantageous because not onlydoes such use negate the need for a fluid supply line in the umbilicalcord 45, but also because the seawater 28 can act as the liquid couplingfor the various transducers and can help to purge any trapped gas whichmay tend to disrupt proper operation of such transducers. Alternatively,rather than venting the inner chambers of the electronic support modulessuch as the CPU/memory data convert module 37, power supply module 39,or wire terminal module 41, each of those modules can be filled with adielectric fluid and can include a bladder (not shown) to perform thepressure equalization function. Note, though the seawater 28 is thepreferred acoustic fluid to be positioned in the drilling riser pipe 15for inspection, other fluids such as, for example, production fluid, mayfunction as a potential substitute where seawater is either notavailable or not feasible to use.

As stated above, if the wall thickness is determined during the transitof the inspection apparatus 21 down through the bore 23 of the drillingriser pipe 15, the operator then may make weld volume inspection testswith weld volume inspection transducers 121, preferably during thereturn transit. Rather than bringing the inspection apparatus 21 back tothe top end of the drilling riser pipe 15, it is more efficient tooperate the inspection apparatus 21 and perform inspections duringextraction of the inspection apparatus 21, making weld inspectionsbeginning from the far distal end of the deployed drilling riser pipe15. Regardless of the starting point, prior to inspecting the pluralityof welds 52 with the weld volume inspection transducers 109 and weldroot (shear wave) inspection transducers 117, if so installed, thelocation of the first weld inspection site should be determined. Ifvideo cameras 75 or some form of weld detection sensors are installed,the operator can either manually or through automated systems detect andstore the location of the weld inspection site in the weld inspectionarea either on the transit down or on the transit back up. This isaccomplished with the use of cable length tracker 51 associated witheither the wireline spool 42 or umbilical cord spool 49.

After the inspection apparatus 21 has determined a weld inspection siteof a weld inspection area, the operator can, through the controller 43,position the inspection apparatus 21 in a position at the weldinspection site that places a first and a second weld volume inspectiontransducer 109 on opposite sides of a weld 52. The operator thentemporarily stops vertical or longitudinal movement and thensimultaneously rotates the first and the second weld inspectiontransducers 109 along the circumference of the inner diameter of thedrilling riser pipe 15 at the inspection site. As stated above, thisrotation is preferably within a fluid carrier 81. The fluid carrier 81,which is also generally in contact with transducers shoes 99, ensures aproper acoustic coupling between the weld volume inspection transducers109 and weld root inspection transducers 117 and the inner TOFD modulehousing 80. The exterior surface of the tool housing body 27 issurrounded by seawater 28 to further provide the acoustic couplingbetween the transducers 109, 117, and the inner diameter of the drillingriser pipe 15.

Referring to FIGS. 9 and 10, the operator causes the first weld volumeinspection transducer 109 to emit an acoustical signal into the weld 52and the second weld volume inspection transducer 109 to receive a returnacoustical signal, to determine if a volume of the weld 52 has anydefects. Additionally, the operator can simultaneously position a firstand a second weld root inspection transducer 117 on opposite sides ofthe weld 52 along with the first and the second weld volume transducers109. The operator can cause the first weld root transducer 117 to emitan acoustical signal and can enable the second weld root transducer 117to receive an acoustical signal from a root of the weld 52 to determineif the root of the weld 52 has any defects.

After determining the position of a first weld 52, the operator willhave a general indication of the position of the next weld 52 based onthe location of the prior weld 52 inspected because the approximatespacing of the welds 52 are generally known prior to conducting theinspection. The operator can maneuver the apparatus 21 to that locationwith input from the cable length tracker 51. Also, the video cameras 75can provide a visual aid for the operator to properly positiontransducers 109, 117, on opposite sides of the next weld 52.Alternatively, a weld or flaw detector (not shown) can provide anelectronic indication for the operator to properly position thetransducers. For example, transducers such as the ultrasonic wallinspection transducers 121 can be used to detect the location of thewelds 52 because the density of the weld material is different than thedensity of the material forming the drilling riser pipe 15.

The operator vertically repositions the inspection apparatus 21 to thenext weld inspection site in the next weld inspection area to performanother weld inspection, as described above. The rotating TOFD module33, weld volume inspection transducers 109 and weld root inspectiontransducers 117, are preferably rotated no more than one fullrevolution, i.e., 180 degrees, in one direction at the first inspectionsite and then rotated back that same amount in the opposite direction atthe next inspection site. Where the TOFD module 33 includes two pairs ofTOFD transducers 109, each pair of TOFD transducers 109 will sweep andmeasure 180 degrees, thus, covering all 360 degrees of weld inspectionsite during the 180 degree rotation. Similarly, each pair of shear wavetransducers 117, if similarly implemented, will correspondingly alsosweep 180 degrees. There is no need to rotate more than 180 degrees ifthe inspection apparatus 21 has two pairs of TOFD transducers 109. Ifthe inspection apparatus 21 had only a single pair of TOFD transducers109, then it would be necessary to rotate the TOFD module 33 one fullrevolution. Rotation more than one revolution is not needed and wouldtend to twist lines leading to the TOFD module 33 more than desired.

Once the inspection of the first weld inspection site is completed, theoperator optionally may leave the TOFD module 33 in the 180 degreerotated position that existed at the conclusion of inspecting the firstweld inspection site. At the next weld inspection site, the operator caninspect the site by rotating the TOFD module 33 in the oppositedirection for 180 degrees. Once the operator reaches the opposite end,all of the welds 52, normally three per section of drilling riser pipe15, will have been inspected, with the data recorded in either theCPU/data convert module 37 or a memory storage unit within or associatedwith the controller 43 (FIG. 7).

With the inspection of the drilling riser pipe 15 complete, the operatorextracts any data not extracted real-time from the inspection apparatus21 that is saved in the CPU/memory data convert module 37. The operatoranalyzes the data to determine whether a specific section of thedrilling riser pipe 15 requires additional inspection and repair basedupon the severity of any determined defects, if one so exists. If suchdefect is determined that is severe enough to warrant additionalinspection and repair, advantageously the operator need only recoverthose sections of the drilling riser pipe 15 determined to have such asevere defect, and need only incidentally recover those sections locatedabove the lowest section of those sections determined to requirerecovery. That is, the entire drilling riser 15 need not be recovered,only those affected sections and those necessary to gain access to theaffected sections.

The invention has significant advantages. Deployment of the apparatus ina deployed drilling riser allows operators and drilling contractors toinspect the riser without the need to recover the riser. This avoidstransporting the riser pipe sections to land, stripping the buoyantmembers and auxiliary lines then inspecting the pipes from the exterior.Inspecting internally avoids problems encountered due to externalcoatings. Because of the coupling liquid, the interiors of the risersections do not have to be spotlessly clean for the inspection to bevalid. Performing the weld tests and the corrosion tests with the sameunit reduces the amount of equipment required and also saves time inthat it can be done during one trip through the riser section. Rotatingthe inspection unit no more than one full turn allows the wires to beconnected directly between the unit and the exterior without overtwisting them. There is no need for electrical slip rings and rotationaltype manifolds. In the event a section of the riser is found to havedefects, the information provided by the apparatus can be used todetermine if the section is still fit for operational use or if it willhave to be retrieved and replaced. In the event that the riser system isexposed to any abnormal conditions while deployed, the apparatus can beused to make a quick, low-cost evaluation of the critical features ofthe deployed riser system. The information provided by the apparatuswill allow an operator or contractor to determine if the riser systemshould be recovered or if drilling operations can continue. In the eventit is determined that the riser should be recovered, the apparatus canpinpoint which sections should receive a full topside evaluation.Drilling operations can resume with less down time, as only affectedsections and those above those sections need be recovered, and onlyaffected sections need be removed from service.

In the drawings and specification, there have been disclosed a typicalpreferred embodiment of the invention, and although specific terms areemployed, the terms are used in a descriptive sense only and not forpurposes of limitation. The invention has been described in considerabledetail with specific reference to these illustrated embodiments. It willbe apparent, however, that various modifications and changes can be madewithin the spirit and scope of the invention as described in theforegoing specification. For example, the centralizer was shown tocomprise a plurality of straps where wheels could also be insteadutilized. Additionally, the tool housing was shown as a solidcylindrical housing but could instead be of another geometric shape oreven not be of a solid form. Also for example, the wall thickness modulecan be used in place of the video module as an alternate methodology ofboth visualizing and detecting the location of a weld as the density ofthe weld material is different than the riser material. Also forexample, the apparatus can be deployed without the TOFD module or can bedeployed without the wall thickness module in accordance with the needsof the user.

1. An apparatus for inspecting vertically supported fluid filled pipe,comprising: an inspection unit having a longitudinal axis and adapted tobe connected to a line for lowering into and retrieving from the pipe; acentralizer mounted to the inspection unit, having an outer peripheryfor slidingly contacting the pipe as the inspection unit moves throughthe pipe; a rotating time of flight diffusion (TOFD) module carried bythe inspection unit and including a pair of rotatably mounted weldvolume inspection transducers adapted to inspect for and obtain data onweld volume defects, the weld volume inspection transducers rotatingduring inspection at a circumscribed diameter that is less than thediameter of the centralizer at the periphery; and a wall thicknessmodule carried by the inspection unit and including a plurality of wallthickness inspection transducers adapted to obtain data on wallthickness of a portion of the pipe, the wall thickness inspectiontransducers during inspection being located at a circumscribed diameterless than the diameter of the centralizer at the periphery.
 2. Theapparatus of claim 1, wherein the TOFD module further includes arotatable shaft positioned parallel to the longitudinal axis of theinspection unit for rotating the weld volume inspection transducers, anda pair of weld volume inspection transducer mounts connected to therotatable shaft for carrying the weld volume inspection transducers, andwherein each of the weld volume inspection transducers is connected to aseparate one of the pair of weld volume inspection transducer mounts. 3.The apparatus of claim 1, wherein the TOFD module further comprises: anannular fluid carrier positioned surrounding the weld inspectiontransducers, the weld volume inspection transducers rotating in slidingcontact with an inner diameter of the fluid carrier.
 4. The apparatus ofclaim 3, wherein the TOFD module further comprises: a rigid nonrotatingTOFD module housing surrounding the fluid carrier, the weld inspectiontransducers forcing the fluid carrier into contact with an innerdiameter of the TOFD module housing while being rotated.
 5. Theapparatus of claim 4, wherein the TOFD module housing contains anacoustic fluid to provide a liquid coupling between the fluid carrierand the TOFD module housing.
 6. The apparatus of claim 1, furthercomprising a pipe weld location detector module carried by theinspection unit and including a pipe weld position detector adapted todetect a position of the weld volume in the pipe.
 7. The apparatus ofclaim 6, wherein the pipe weld location detector module furthercomprises a housing surrounding the pipe weld location detector module,and wherein a portion of the housing is substantially transparent arounda circumference to provide for visual viewing from within the pipe weldlocation detector module.
 8. The apparatus of claim 1, wherein the TOFDmodule further comprises a rotatable drive shaft for rotating the pairof weld volume inspection transducers; wherein the pair of weld volumeinspection transducers include a TOFD transmitter transducer connectedto a first TOFD mount and positioned to transmit an acoustic signalthrough a weld volume, and a TOFD receiver transducer connected to asecond TOFD mount and positioned adjacent to and spaced apart from thefirst TOFD transmitter transducer along the longitudinal axis of theinspection unit and positioned to receive a portion of the acousticsignal; and wherein each of the transducer mounts are connected to therotatable drive shaft to provide a rotational platform for the TOFDtransmitter transducer and TOFD receiver transducer for rotating in aclockwise and a counterclockwise direction.
 9. The apparatus of claim 1,wherein the wall thickness module further comprises a housing having anacoustic fluid therein to provide a liquid coupling between each of thewall thickness inspection transducers and the housing.
 10. The apparatusof claim 1, wherein the wall thickness transducers are fixedly mountedwithin the wall thickness module.
 11. The apparatus of claim 1, furthercomprising: an umbilical cord including a data conductor positionedbetween the proximal end of the housing and a controller adapted to beremotely positioned on a deployment platform; and an umbilical cordspool adapted to be positioned on the deployment platform for storingand deploying the umbilical cord.
 12. The apparatus of claim 1, whereinthe TOFD module further comprises: a pair of rotatably mounted shearwave inspection transducers adapted to inspect for and obtain data onweld root defects.
 13. A system for inspecting vertically supportedfluid filled drilling riser, comprising: a body adapted to be filledwith an acoustic liquid, and the body adapted to be connected to awireline for deployment in the drilling riser; a video module carried bythe body, the video module including a video camera positioned to viewan inner diameter of the drilling riser to detect a position of a weldin the drilling riser; a time of flight diffusion (TOFD) modulepositioned within the body, the TOFD module including a rotatable shaftpositioned parallel to a longitudinal axis of the body, a TOFDtransmitter transducer connected to a first TOFD mount and positioned totransmit an acoustic signal through a weld volume, a TOFD receivertransducer connected to a second TOFD mount and positioned adjacent toand spaced apart from the first TOFD transmitter transducer along thelongitudinal axis of the body and positioned to receive a portion of theacoustic signal defining a weld volume data signal, each of thetransducer mounts connected to the rotatable drive shaft to provide arotational platform for the TOFD transmitter transducer and TOFDreceiver transducer; a wall thickness module positioned non-rotatablywithin the body, the wall thickness module including a plurality offixedly mounted wall inspection transducers positioned to transmit apulse echo signal and receive at least a portion of the pulse echosignal defining a wall thickness data signal; a data module within thebody electrically connected to the TOFD module, the wall thicknessmodule, and the video module, and adapted to gather signal from the TOFDmodule, the wall thickness module, and the video module; a centralizerconnected to an external surface of the body and adapted to conform tovarying drilling riser inner diameter sizes to maintain the bodysubstantially in the center of the inner diameter of the drilling riser;and a controller electrically connected to the data module and remotelypositioned to receive data signals from the TOFD module, the wallthickness module, and the video module.
 14. The system of claim 13,wherein the TOFD module further comprises: an annular fluid carrierpositioned surrounding the TOFD transmitter and TOFD receivertransducers, the TOFD transmitter and TOFD receiver transducers rotatingin sliding contact with an inner diameter of the fluid carrier.
 15. Thesystem of claim 13, wherein the TOFD module further comprises: anannular fluid carrier positioned surrounding the TOFD transmitter andTOFD receiver transducers, the TOFD transmitter and TOFD receivertransducers rotating in sliding contact with an inner diameter of thefluid carrier; and a rigid nonrotating TOFD module housing surroundingthe fluid carrier and containing an acoustic fluid to provide a liquidcoupling between fluid carrier and the TOED module housing, the TOFDtransmitter and TOFD receiver transducers forcing the fluid carrier intocontact with an inner diameter of the TOFD module housing while beingrotated.
 16. A method of inspecting a drilling riser, the methodcomprising the steps of: (a) lowering the riser from a platform intoseawater and allowing the seawater to enter the riser; (b) deploying aninspection apparatus on a line into the drilling riser, the inspectionapparatus including at least one acoustical transducer; (c) centralizingthe apparatus in the drilling riser with the transducer spaced inwardfrom a wall of the riser by an annular clearance; and (d) periodicallycausing the transducer to emit an acoustical signal through the seawaterin the annular clearance and into the wall of the drilling riser anddetecting a return acoustical signal from the wall of the drillingriser.
 17. The method according to claim 16, comprising the step ofdisconnecting a lower marine riser package of the drilling riser from ablowout preventer and flushing an inner diameter of the drilling riserwith a fluid prior to deploying the inspection apparatus.
 18. The methodaccording to claim 16, wherein step (b) further comprises placing thetransducer within a housing, and wherein step (d) further comprisesemitting the acoustical signal through the housing.
 19. The methodaccording to claim 18, further comprising filling the housing with aliquid and equalizing pressure within the housing with hydrostaticpressure of seawater in the riser.
 20. The method according to claim 17,wherein the at least one transducer of step (b) further comprises: apair of weld volume inspection transducers including a TOFD transmittertransducer adapted to transmit the acoustical signal through a weldvolume, and a TOFD receiver transducer positioned adjacent to and spacedapart from the first TOFD transmitter transducer along a longitudinalaxis of the inspection apparatus and adapted to receive a portion of theacoustical signal, the weld volume inspection transducers rotatingduring inspection at a circumscribed diameter that is less than theinner diameter of the drilling riser; and a plurality of fixedly mountednon-rotating wall inspection transducers adapted to transmit a secondacoustical signal and to receive at least a portion of the secondacoustical signal to determine wall thickness while deploying theinspection apparatus.
 21. The method according to claim 20, wherein step(d) is performed while not rotating the wall inspection transducersrelative to the housing and the drilling riser.